We present a new measurement of the CKM matrix element from $B^{0} \to D^{-} \ell^+ \nu_\ell$ decays, reconstructed with the full Belle data set of integrated luminosity. Two form factor parameterizations, originally conceived by the Caprini-Lellouch-Neubert (CLN) and the Boyd, Grinstein and Lebed (BGL) groups, are used to extract the product and the decay form factors, where is the normalization factor and is a small electroweak correction. In the CLN parameterization we find $(1)\eta_{\rm EW}|V_{cb}| = (35.06 \pm 0.15 \pm 0.56) \times 10^{-3}\rho^{2}=1.106 \pm 0.031 \pm 0.007R_{1}(1)=1.229 \pm 0.028 \pm 0.009R_{2}(1)=0.852 \pm 0.021 \pm 0.006$. For the BGL parameterization we obtain $(1)\eta_{\rm EW}|V_{cb}|= (34.93 \pm 0.23 \pm 0.59)\times 10^{-3}(1)\eta_{\rm EW}B^{0} \to D^{-} \ell^+ \nu_\ell(B^{0}\rightarrow D^{-}\ell^{+}\nu_{\ell}) = (4.90 \pm 0.02 \pm 0.16)%$. We also present a new test of lepton flavor universality violation in semileptonic decays, $\frac{{\cal B }(B^0 \to D^{-} e^+ \nu)}{{\cal B }(B^0 \to D^{*-} \mu^+ \nu)} = 1.01 \pm 0.01 \pm 0.03~$. The errors correspond to the statistical and systematic uncertainties respectively. This is the most precise measurement of and form factors to date and the first experimental study of the BGL form factor parameterization in an experimental measurement.

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